An articulating mechanism capable of transmitting torque for remote manipulation of a surgical or diagnostic tool comprises at least two adjacent links. A first adjacent link of the adjacent links has a ball and a second adjacent link of the adjacent links has a socket for receiving the ball to form a ball and socket joint. The ball and socket joint includes at least one engaging pin and reciprocal slot that provides for torque transmission between the adjacent links while also allowing for pivoting movement of the first adjacent link relative to the second adjacent link. The articulating mechanism also comprises at least one set of cables connecting the first adjacent link and the second adjacent link to one another such that movement of the first adjacent link causes corresponding relative movement of the second adjacent link.
